CN109084776A - A kind of terrestrial reference detection method and device - Google Patents
A kind of terrestrial reference detection method and device Download PDFInfo
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- CN109084776A CN109084776A CN201811022578.1A CN201811022578A CN109084776A CN 109084776 A CN109084776 A CN 109084776A CN 201811022578 A CN201811022578 A CN 201811022578A CN 109084776 A CN109084776 A CN 109084776A
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- terrestrial reference
- landmark information
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- desired guiding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of terrestrial reference detection method and devices, are related to Machine automated field.Terrestrial reference detection method includes: landmark information on acquisition AGV trolley travelling track；Desired guiding trajectory is adjusted according to the default terrestrial reference of landmark information and desired guiding trajectory, wherein landmark information and default terrestrial reference correspond.Terrestrial reference detection method and device provided by the invention reduces cost of labor, improves work efficiency.
Description
Technical field
The present invention relates to Machine automated fields, in particular to a kind of terrestrial reference detection method and device.
Background technique
Automated guided vehicle, also referred to as AGV, AGV trolley (abbreviation of AGV, Automated Guided Vehicle),
Finger magnetically or optically waits homing guidances device equipped with electricity, can travel along defined guide path, with safeguard protection and respectively
The transport vehicle of transfer function is planted, the carrier of driver is not required in industrial application.Since AGV has, intelligence degree is high, transports
Speed is fast, saves the advantages that space, will be used wider and wider general.
Magnetic navigation AGV is that magnetic stripe is laid on road surface, by tape inductive signal realize guide, RFID card carry out positioning and
Trigger command.
It is laid with tape and setting RFID card in advance in the Run-time scenario needs of magnetic navigation AGV, operating normally in AGV may
It causes tape loss even terrestrial reference card to lose, and then AGV is caused to be operating abnormally.
Summary of the invention
The purpose of the present invention is to provide a kind of terrestrial reference detection methods, can reduce cost of labor, improve working efficiency.
The purpose of the present invention is to provide a kind of terrestrial reference detection devices, can reduce cost of labor, improve working efficiency.
The present invention provides a kind of technical solution:
A kind of terrestrial reference detection method, comprising:
Acquire landmark information on AGV trolley travelling track；
The desired guiding trajectory is adjusted according to the default terrestrial reference of the landmark information and desired guiding trajectory, wherein the terrestrial reference letter
Breath is corresponded with the default terrestrial reference.
Further, in preferred embodiments of the present invention,
The landmark information includes positive information and reversed information, landmark information on acquisition AGV trolley travelling track
The step of include:
Acquire the positive information of forward motion of the AGV trolley on the running track；
The positive information according to the forward motion generates counter motion track；
Acquire the heterodromous reversed information of the AGV trolley on the running track.
Further, described according to the default of the landmark information and desired guiding trajectory in preferred embodiments of the present invention
Terrestrial reference adjust the desired guiding trajectory the step of include:
Compare the default terrestrial reference of the landmark information and desired guiding trajectory；
When the landmark information is with there is the corresponding default terrestrial reference, ignore the landmark information；
When the landmark information is without the corresponding default terrestrial reference, increase corresponding with the landmark information described pre-
If terrestrial reference.
Further, in preferred embodiments of the present invention, the terrestrial reference detection method further include:
Warning message is generated according to the landmark information and the default terrestrial reference.
Further, described according to the landmark information and the default terrestrial reference is raw in preferred embodiments of the present invention
Include: at the step of warning message
When the landmark information and the default terrestrial reference mismatch, warning message is generated.
A kind of terrestrial reference detection device, comprising:
Acquisition module, for acquiring landmark information on AGV trolley travelling track；
Module is adjusted, adjusts the desired guiding trajectory for the default terrestrial reference according to the landmark information and desired guiding trajectory,
In, the landmark information and the default terrestrial reference correspond.
Further, in preferred embodiments of the present invention,
The acquisition module, be also used to acquire forward motion of the AGV trolley on the running track describedly
Mark information；
The acquisition module, be also used to acquire the AGV trolley on the running track it is heterodromous describedly
Mark information.
Further, in preferred embodiments of the present invention,
Contrast module, for comparing the default terrestrial reference of the landmark information and desired guiding trajectory；
Matching module, for ignoring terrestrial reference letter when the landmark information is with there is the corresponding default terrestrial reference
Breath；
The matching module is also used to when the landmark information is without the corresponding default terrestrial reference, is increased and is somebody's turn to do
The corresponding default terrestrial reference of landmark information.
Further, in preferred embodiments of the present invention, the terrestrial reference detection device further include:
Alarm module, for generating warning message according to the landmark information and the default terrestrial reference.
Further, in preferred embodiments of the present invention,
The alarm module is also used to generate warning message when the landmark information and default terrestrial reference mismatch.
The beneficial effect of terrestrial reference detection method and device provided by the invention is: terrestrial reference detection method includes: acquisition AGV small
Landmark information on vehicle running track；Desired guiding trajectory is adjusted according to the default terrestrial reference of landmark information and desired guiding trajectory, wherein terrestrial reference letter
Breath is corresponded with default terrestrial reference.Terrestrial reference detection method and device provided by the invention reduces cost of labor, improves work
Efficiency.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart for the terrestrial reference detection method that the embodiment of the present invention one provides.
Fig. 2 is the flow chart of the sub-step for the terrestrial reference detection method that the embodiment of the present invention one provides.
Fig. 3 is the composition block diagram of terrestrial reference detection device provided by Embodiment 2 of the present invention.
Fig. 4 is the composition block diagram of the adjustment module of terrestrial reference detection device provided by Embodiment 2 of the present invention.
Icon: 10- terrestrial reference detection device；100- acquisition module；200- adjusts module；210- contrast module；220- matching
Module；300- alarm module.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it is to be understood that, term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put or those skilled in the art orientation or position that usually understand
Relationship is set, is merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning or element are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Embodiment one
Referring to Fig. 1, a kind of terrestrial reference detection method is present embodiments provided, terrestrial reference detection method energy provided in this embodiment
Cost of labor is enough reduced, working efficiency is improved.
Specific step is as follows:
Step S100 acquires landmark information on AGV trolley travelling track.Wherein landmark information includes positive information and reversed
Information.
In the present embodiment, start logging program, then control AGV moving of car, acquire AGV trolley on running track
Landmark information.
Step S110 acquires the positive information of forward motion of the AGV trolley on running track.
In the present embodiment, the positive information of forward motion of the AGV on motion profile can be acquired.
Step S120, the positive information according to forward motion generate counter motion track.
In the present embodiment, AGV trolley is raw according to the positive information on motion profile when completing movement on motion profile
At counter motion track.
Step S130 acquires heterodromous landmark information of the AGV trolley on running track.
In the present embodiment, heterodromous reversed information of the AGV trolley on motion profile can be acquired.
Step S200 adjusts desired guiding trajectory according to the default terrestrial reference of landmark information and desired guiding trajectory.Wherein, landmark information with
Default terrestrial reference corresponds.
In the present embodiment, landmark information and default terrestrial reference are one-to-one relationships, according to landmark information and desired guiding trajectory
Desired guiding trajectory can be adjusted, the precision of desired guiding trajectory is improved.Wherein, landmark information includes positive information and reversed information.
Step S210 compares the default terrestrial reference of landmark information and desired guiding trajectory.
In the present embodiment, the default terrestrial reference of collected landmark information and desired guiding trajectory is compared, and according to right
Desired guiding trajectory is adjusted than result.
Step S220 ignores the landmark information when landmark information is with there is corresponding default terrestrial reference.
In the present embodiment, landmark information and default terrestrial reference are one-to-one relationships, when have in desired guiding trajectory with should
When the corresponding default terrestrial reference of landmark information, the landmark information can be ignored, illustrate in the presence of it is corresponding with the landmark information defaultly
Mark.
Step S230 increases corresponding with the landmark information default when landmark information is without corresponding default terrestrial reference
Terrestrial reference.
In the present embodiment, when in desired guiding trajectory without default terrestrial reference corresponding with the landmark information, by the landmark information
It is added in desired guiding trajectory and forms default terrestrial reference corresponding with the landmark information.
Step S300 generates warning message according to landmark information and default terrestrial reference.
In the present embodiment, AGV trolley is in normal motion process, when landmark information and default terrestrial reference mismatch,
Generate warning message.
In the present embodiment, when AGV trolley is in normal motion process, when the nothing in desired guiding trajectory and landmark information pair
When the default terrestrial reference answered, illustrate that landmark information and default terrestrial reference mismatch, and generate warning message, to remind user to check.
The working principle of terrestrial reference detection method provided in this embodiment: in the present embodiment, in the present embodiment, first start
Logging program, the landmark information that is moved on running track of detection AGV trolley, and carried out pair with the default terrestrial reference on desired guiding trajectory
Than, when there is default terrestrial reference corresponding with the landmark information in desired guiding trajectory, the landmark information can be ignored, illustrate in the presence of with
The corresponding default terrestrial reference of the landmark information.When in desired guiding trajectory without default terrestrial reference corresponding with the landmark information, by the terrestrial reference
Information, which is added in desired guiding trajectory, forms default terrestrial reference corresponding with the landmark information, thus to adjust desired guiding trajectory.When AGV is small
Vehicle when in desired guiding trajectory without default terrestrial reference corresponding with landmark information, illustrates landmark information in normal motion process
It is mismatched with default terrestrial reference, and generates warning message, to remind user to check.
In conclusion terrestrial reference detection method provided in this embodiment can adjust automatically desired guiding trajectory, reduce manually at
This, improves work efficiency.
Embodiment two
A kind of terrestrial reference detection device 10 is present embodiments provided, terrestrial reference detection device 10 provided in this embodiment can be reduced
Cost of labor improves working efficiency.
In order to briefly describe, the present embodiment does not refer to place, can refer to embodiment one.
In the present embodiment, terrestrial reference detection device 10 includes:
Acquisition module 100, for acquiring landmark information on AGV trolley travelling track.
In embodiments of the present invention, step S100 can be executed by acquisition module 100.
Module 200 is adjusted, adjusts desired guiding trajectory for the default terrestrial reference according to landmark information and desired guiding trajectory, wherein ground
It marks information and default terrestrial reference corresponds.
In the present embodiment, acquisition module 100 are being also used to acquire forward motion of the AGV trolley on running track just
To information.Acquisition module 100 is also used to generate counter motion track according to positive information.
Acquisition module 100 is also used to acquire heterodromous reversed information of the AGV trolley on running track.
In embodiments of the present invention, step S110, step S120 and step S130 can be executed by acquisition module 100.
In the present embodiment, adjustment module 200 includes:
Contrast module 210, for comparing the default terrestrial reference of landmark information and desired guiding trajectory.
In embodiments of the present invention, step S210 can be executed by contrast module 210.
Matching module 220, for ignoring the landmark information when landmark information is with there is corresponding default terrestrial reference.
Matching module 220 is also used to when landmark information is without corresponding default terrestrial reference, is increased and the landmark information pair
The default terrestrial reference answered.
In embodiments of the present invention, step S220 and step S230 can be executed by contrast module 210.
In the present embodiment, terrestrial reference detection device 10 further include:
Alarm module 300, for generating warning message according to landmark information and default terrestrial reference.
In embodiments of the present invention, step S300 can be executed by contrast module 210.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of terrestrial reference detection method characterized by comprising
Acquire landmark information on AGV trolley travelling track；
Adjust the desired guiding trajectory according to the default terrestrial reference of the landmark information and desired guiding trajectory, wherein the landmark information with
The default terrestrial reference corresponds.
2. terrestrial reference detection method according to claim 1, which is characterized in that the landmark information is including positive information and instead
To information, the step of landmark information, includes: on acquisition AGV trolley travelling track
Acquire the positive information of forward motion of the AGV trolley on the running track；
The positive information according to the forward motion generates counter motion track；
Acquire the heterodromous reversed information of the AGV trolley on the running track.
3. terrestrial reference detection method according to claim 1, which is characterized in that described according to the landmark information and default rail
The default terrestrial reference of mark adjusts the step of desired guiding trajectory and includes:
Compare the default terrestrial reference of the landmark information and desired guiding trajectory；
When the landmark information is with there is the corresponding default terrestrial reference, ignore the landmark information；
When the landmark information is without the corresponding default terrestrial reference, increase it is corresponding with the landmark information it is described defaultly
Mark.
4. terrestrial reference detection method according to claim 1, which is characterized in that the terrestrial reference detection method further include:
Warning message is generated according to the landmark information and the default terrestrial reference.
5. terrestrial reference detection method according to claim 4, which is characterized in that described according to the landmark information and described pre-
If terrestrial reference generates the step of warning message and includes:
When the landmark information and the default terrestrial reference mismatch, warning message is generated.
6. a kind of terrestrial reference detection device characterized by comprising
Acquisition module, for acquiring landmark information on AGV trolley travelling track；
Module is adjusted, adjusts the desired guiding trajectory for the default terrestrial reference according to the landmark information and desired guiding trajectory, wherein institute
It states landmark information and the default terrestrial reference corresponds.
7. terrestrial reference detection device according to claim 6, which is characterized in that
The acquisition module is also used to acquire the terrestrial reference letter of forward motion of the AGV trolley on the running track
Breath；
The acquisition module is also used to acquire the heterodromous terrestrial reference letter of the AGV trolley on the running track
Breath.
8. terrestrial reference detection device according to claim 6, which is characterized in that the adjustment module includes:
Contrast module, for comparing the default terrestrial reference of the landmark information and desired guiding trajectory；
Matching module, for ignoring the landmark information when the landmark information is with there is the corresponding default terrestrial reference；
The matching module is also used to when the landmark information is without the corresponding default terrestrial reference, is increased and the terrestrial reference
The corresponding default terrestrial reference of information.
9. terrestrial reference detection device according to claim 6, which is characterized in that the terrestrial reference detection device further include:
Alarm module, for generating warning message according to the landmark information and the default terrestrial reference.
10. terrestrial reference detection device according to claim 9, which is characterized in that
The alarm module is also used to generate warning message when the landmark information and default terrestrial reference mismatch.
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| CN201811022578.1A CN109084776B (en) | 2018-09-03 | 2018-09-03 | Landmark detection method and device |
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| CN201811022578.1A CN109084776B (en) | 2018-09-03 | 2018-09-03 | Landmark detection method and device |
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